diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.450764.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.450764.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaeb6e5d64482ae80851d38fa1bc7937fff146e2
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..32a1705885dc1b68f6ab13a9dbf49698fa12f37d
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..977f5cf8495c8496d9e0aff9fceb6dab99b3cdc0
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..47b838fed234a2e9034391aa656e2429981047fd
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..b640e89dd6977a9a7fbf8b197f9b398a28ef0a16
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+{
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index 0000000000000000000000000000000000000000..f59bffa3f40d2bebaa434492b8bab755f0f7ea0e
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+{
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index 0000000000000000000000000000000000000000..2d9de52d593d052a18ae932926b71e68d6ed8209
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.478810.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.478810.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a1faf6825b57cc24add4331eb5a66fae4e83876
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index 0000000000000000000000000000000000000000..adb2f4693e597da025c6058d7621e8c870de048c
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.486787.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.486787.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a568ef81ed34222e28d2d4e4e6e847eef350480
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new file mode 100644
index 0000000000000000000000000000000000000000..506b84c6f5c148178626590d953e54a780c9920d
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new file mode 100644
index 0000000000000000000000000000000000000000..67b2a365f4bc8cbf6fd011d69117661b0eaf72c1
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.498889.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.498889.json
new file mode 100644
index 0000000000000000000000000000000000000000..d201c1010bb2f6b6965cd342d9cf4ee308bee8ca
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.502875.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.502875.json
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..7071d072bce8d650db0d0ac293f1572c319f0f3b
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new file mode 100644
index 0000000000000000000000000000000000000000..8370bcf6dc942a524fd1c169be9e9e89a18ec648
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.514985.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.514985.json
new file mode 100644
index 0000000000000000000000000000000000000000..01e88468b0172a2309cd28b86a4cc007b51bcb4f
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new file mode 100644
index 0000000000000000000000000000000000000000..1ad6ffe572c258ab966b44ec4287d0f501c5d822
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new file mode 100644
index 0000000000000000000000000000000000000000..db0e159713bffc5c52ea1656649c9833d5302079
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new file mode 100644
index 0000000000000000000000000000000000000000..4da0c8a1656ceee52375c31e08499857d3a6b6e7
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new file mode 100644
index 0000000000000000000000000000000000000000..18c51349254365311dee197a002b709a41ce4725
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new file mode 100644
index 0000000000000000000000000000000000000000..44313bee5164e4adb2a69dae0fec02d7fda8f916
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new file mode 100644
index 0000000000000000000000000000000000000000..15e3cf5a27e20104eb0cc2a45f85c932e163e5bd
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.542884.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.542884.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d93646a3761fb5fcefbae2e0a131d95fef96140
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new file mode 100644
index 0000000000000000000000000000000000000000..82dcd36e0e92e2874878d99fcbf55e341349cfdc
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new file mode 100644
index 0000000000000000000000000000000000000000..346cdcacc7db4c501dffb70f9395ac66ca673612
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.562881.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.562881.json
new file mode 100644
index 0000000000000000000000000000000000000000..e566de3763cc0b47cfe4a212adf9730991a8afcc
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.566869.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.566869.json
new file mode 100644
index 0000000000000000000000000000000000000000..9178a82168dd13928fde4b1a6f95b521609e7359
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.570873.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.570873.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30601ee12f10b74797741ceceb1f6c38bf2b862
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.574861.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.574861.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5bce56af9ef8746a3ab1cc1354e617aba759d86
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999351.574861.json
@@ -0,0 +1,8 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..dc01aee3e7d01698425a35cae2f64a404bbf0955
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.582826.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.582826.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbeebcc101baf81f0a30206fa11c34881b13acf8
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.586817.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.586817.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab1b79020acaa6fdb9fc4cf6a5b319ede87dad80
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@@ -0,0 +1,8 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..78477a8c57e9e0ae54c29d3895a5fe701c3b3b3c
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..9a8aa8eb70f6aff56389cb5a7515e2d5e2e3d14e
--- /dev/null
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+{
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index 0000000000000000000000000000000000000000..1dd8781f2d8ff7a0183934624ab0c1505b07f0ee
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.602807.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.602807.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeb90eab02f43c59e3c313419c9fc069847b8458
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.606800.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.606800.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66f20f7246fbea5d2c1915dcdcaf7770c0320e0
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.610786.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.610786.json
new file mode 100644
index 0000000000000000000000000000000000000000..40457877d16b4adbbeda926c0c8f7567cf1dec13
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.614780.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.614780.json
new file mode 100644
index 0000000000000000000000000000000000000000..dafbdf3e0e27e64da6dcb95d8fcc55150856d0a3
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.618776.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.618776.json
new file mode 100644
index 0000000000000000000000000000000000000000..524922c70f79dded54e9cebdfa14380c493eaecc
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new file mode 100644
index 0000000000000000000000000000000000000000..54c51f31446a527b9687e8abff760146953da2ea
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new file mode 100644
index 0000000000000000000000000000000000000000..021400d5601bbf671b8d0754806e40367e3db24e
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new file mode 100644
index 0000000000000000000000000000000000000000..22732bec5f625dc647ef92aff8f8110461e6d0b3
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new file mode 100644
index 0000000000000000000000000000000000000000..782bc611c15eb25cac392a82a6db9199a5e0554b
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.638774.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.638774.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b6daec0586c13f6f4b07fbc11c6d22362c514c
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.642772.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.642772.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8adc9297a0c3d0cef1282018c5c6ea414731a05
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.646768.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.646768.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed3f8f3eccaa0e96d38f00b94ddd83b823135c3
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.650766.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.650766.json
new file mode 100644
index 0000000000000000000000000000000000000000..c58d493539d7be8b183ddeaa5a3f25982d37575d
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.654865.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.654865.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f719f0e1a4bce571b2363a901ec68de7ad1912f
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new file mode 100644
index 0000000000000000000000000000000000000000..f1d0de0f4796266a35d8486484983269c6619658
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.662860.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.662860.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fadfd98c8a3d7c3807b64cdc54b253c0f713d3a
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new file mode 100644
index 0000000000000000000000000000000000000000..a574ddcd34c57b08d1e4b1240f3aa06ba4ac5076
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new file mode 100644
index 0000000000000000000000000000000000000000..462498059f25a78b3a69c462e871ee91270ebb70
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.674817.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.674817.json
new file mode 100644
index 0000000000000000000000000000000000000000..6325efb75addaf62651c7827d1ee95382845f2e6
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new file mode 100644
index 0000000000000000000000000000000000000000..c0955488f51d3469b9bb6c79a4cdaefcb735812d
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.682812.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.682812.json
new file mode 100644
index 0000000000000000000000000000000000000000..aca0f20d205e03ae487a53312271f013c8cf7950
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.686801.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.686801.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f524e1ba3ac8a3f8b3541b068e80dc911d1978e
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new file mode 100644
index 0000000000000000000000000000000000000000..2b718d6c905166cd3a69f6ffd7c625e8b63de5fe
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..28fff8651bd65ee70fb2a75594b56beda50691a2
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..83dd757f1f49e0b080e14283867f3d0c0f95e64c
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@@ -0,0 +1,8 @@
+{
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index 0000000000000000000000000000000000000000..65b71c995ec21f8488c2cfa4257eb229305666d6
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index 0000000000000000000000000000000000000000..795d577b972d7106d077f81aa6be4ee0b617658c
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new file mode 100644
index 0000000000000000000000000000000000000000..d1cc29b0c0285178fdd71f386aa0b063e4aadf03
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new file mode 100644
index 0000000000000000000000000000000000000000..7caceb81b654321a1fc3868cd4529348638f281d
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new file mode 100644
index 0000000000000000000000000000000000000000..3d7c48e01c515016baef7591c4e4ba096892a045
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new file mode 100644
index 0000000000000000000000000000000000000000..05b928710167e6107c695a935602ced01d4dad19
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new file mode 100644
index 0000000000000000000000000000000000000000..db920c0207eb0baa26215694777f712e3304e22f
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new file mode 100644
index 0000000000000000000000000000000000000000..e722eba6e9802c7a016c9401bf65d6b366b89b2e
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..ea63f5be88e386d1c8ee35da5da9dee7ac246b80
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..088d5565b1b2c072f94f1889b26d04c1dc29064e
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new file mode 100644
index 0000000000000000000000000000000000000000..37e30176987d878e67de835d6932fd49b0470599
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..59d3876b2f3bb165ceb8ebdc1175e786c7de196c
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..aa4cbebe72bd28a366de70c3f887e735f9fa8ded
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new file mode 100644
index 0000000000000000000000000000000000000000..116ca2625eb54788ce95f8245760263a070c3086
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new file mode 100644
index 0000000000000000000000000000000000000000..042a7a99b788b57c7d949ea612ba522e2d07013f
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..f30bbfbb8bb09e4df31091b523007079d3939208
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999351.810823.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.814826.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.814826.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b5c624cd195e60429b7af9c1c87a6c490d906f3
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.818829.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.818829.json
new file mode 100644
index 0000000000000000000000000000000000000000..992804ee36433df58c7823d0d0addd7100f956cf
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999351.818829.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.822815.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.822815.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e19e1c6396ca59e9d49049fbbd91f7ac3c0c18c
--- /dev/null
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..d2dcb92feadc6e7cf8be4051c446b336f5fe3d94
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.830812.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.830812.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc614ff582350839f61bc96a3cb1dafa9b7ec14d
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.834794.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.834794.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b52f3d9ce4d3657d37269788b62b65717b3ddc
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.838790.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.838790.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b59900cd74c5be0c1115895cb2f6f118a7486b1
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.842788.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.842788.json
new file mode 100644
index 0000000000000000000000000000000000000000..c804a2b0c664aaa65ac3a76252555310b80199a3
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.846792.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.846792.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4679b05a6361d3059736c133a882913159e6f6d
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..99f201a273ea6ae2d8f01a7fff48bd9bc5467c65
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.854814.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.854814.json
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.858818.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.858818.json
new file mode 100644
index 0000000000000000000000000000000000000000..d561a03cd7a24fcff7bf4ba4be7c39ee375a30d0
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.862810.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.862810.json
new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..fc1da68691c27ea8b552d0c2c637e8e1444e0e29
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.870790.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.870790.json
new file mode 100644
index 0000000000000000000000000000000000000000..a50aebd96c75c52353be3abf75b23c6f5d10b4a7
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new file mode 100644
index 0000000000000000000000000000000000000000..13d05b6eac77a2a5f4a7a8d69d048f344a2eaaad
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new file mode 100644
index 0000000000000000000000000000000000000000..856067767d0397d7de2977545304fb7c9684e805
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new file mode 100644
index 0000000000000000000000000000000000000000..8b21e90aac120c6877bf1cd93baa172cc7ff0c09
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new file mode 100644
index 0000000000000000000000000000000000000000..639cccb33ff3acba247ceefab6da8c2a7d8a927a
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.890839.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.890839.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbbf3cebde464b7ef5cd078f05d8aed6968fd82b
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.894814.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.894814.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc681634fab99be069ce4a42169d1a4589e99482
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new file mode 100644
index 0000000000000000000000000000000000000000..ae27bdfaca21cc720310b7c66352e2a0301bdfb7
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new file mode 100644
index 0000000000000000000000000000000000000000..73c1c3c18a69e5b0d8795291a2685ec77bd04641
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new file mode 100644
index 0000000000000000000000000000000000000000..c3a28a439b80303d6329dc6ab513df651b893841
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.910789.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.910789.json
new file mode 100644
index 0000000000000000000000000000000000000000..e93bad68c2e3598a4268d3537d79a65cc3e4d128
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.914787.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.914787.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3ce054b10322306e561caa9ca88bd30e024def0
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.918790.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.918790.json
new file mode 100644
index 0000000000000000000000000000000000000000..6502d98f3893df4f08663d5b02949d8caf6ca18e
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.922787.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.922787.json
new file mode 100644
index 0000000000000000000000000000000000000000..84f720f9a82f18fea2eaab96989f0f0c85604ccb
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.926782.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.926782.json
new file mode 100644
index 0000000000000000000000000000000000000000..78afef9c0604f92361c6ac339c088fee4ee34217
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999351.926782.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.930773.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.930773.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1440c82ebfa87245694e9acb49a1d620aa0686
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999351.930773.json
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.934770.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.934770.json
new file mode 100644
index 0000000000000000000000000000000000000000..f94ac3b550d2e5215e62765a96a1da258dff483c
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.938766.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.938766.json
new file mode 100644
index 0000000000000000000000000000000000000000..9646cfa2708cbfb3c32bda95fe1cab883fc98d1d
--- /dev/null
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+{
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index 0000000000000000000000000000000000000000..79fb233df4a19e0ba48ebcb70d4c9f2e62cac0ea
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.946834.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.946834.json
new file mode 100644
index 0000000000000000000000000000000000000000..5404fcc7bc48c9cffe98afd91d3bb07c71a60405
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.950829.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.950829.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ef700dabf9463fef85487c4d43f71234674ae1
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.954824.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.954824.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a3757ce2a31cf9b192aa4a152c2ca6da79a9f2
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.958813.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.958813.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed572dfa26fce4a8d3803092d1d7fd1a9748589
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.962796.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.962796.json
new file mode 100644
index 0000000000000000000000000000000000000000..9766be923388ffa4ff519d03a7c38cb6ad5e62a7
--- /dev/null
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.966790.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.966790.json
new file mode 100644
index 0000000000000000000000000000000000000000..a427523f5d1e4d74a8b2f3de5a7edaceaebaaf01
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.970784.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.970784.json
new file mode 100644
index 0000000000000000000000000000000000000000..517ea4c2194ae299ccb85179d7b6bcf10bf8c4d8
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.974947.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.974947.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52097d96d0aafb0f247457d77da079586ef5a97
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.978950.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.978950.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1c69b450a7141fc7735f0a512d3a81d03d192c
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.982935.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.982935.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c839cd802a9fc44b1efc2f3b3fd6e71dd04618
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.986918.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.986918.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a8f012e3e65d27d148ce7925765503a15193afd
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.990898.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.990898.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edca162e433eb9e51f0b9f20d7e8238f4f294c7
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.994866.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.994866.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec3c5a6a2c25d143f2f751d19c81b7753b77a09c
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999351.998852.json b/single_pika_sense/episode9/localization/pose/pika/1782999351.998852.json
new file mode 100644
index 0000000000000000000000000000000000000000..a500a37445e450e424e8412be0f4dc06bd398efe
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..1c02e02671c5bfbc61f939811e340a0a01c11191
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+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.006928.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.006928.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4dda46edd622703a6910eb09ebed15ccdca3aa
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.010931.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.010931.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3f93d44cfc17e24c73d6145ec8f222ccce9efcd
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.014894.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.014894.json
new file mode 100644
index 0000000000000000000000000000000000000000..612944d6d3941fa6ed902b91bbe86665e1102601
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.018898.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.018898.json
new file mode 100644
index 0000000000000000000000000000000000000000..365edb052a67edf6a0d75213595959f9df637873
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.022882.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.022882.json
new file mode 100644
index 0000000000000000000000000000000000000000..704155e0093578dc6b432470fdc37127c8bae827
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.026868.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.026868.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7eca8583bc9678f10bcc288e43919e6fdb529da
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.030838.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.030838.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5fb85c79fff8f43d247dcb83436aa89ce46bdcf
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.034842.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.034842.json
new file mode 100644
index 0000000000000000000000000000000000000000..9462091ccb7ac8e8b20b6c40e5b512d3b1e1ecf2
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.038890.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.038890.json
new file mode 100644
index 0000000000000000000000000000000000000000..a41c7fc6d7342b5340afef94b0b75fd416dc8bb1
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new file mode 100644
index 0000000000000000000000000000000000000000..7243afe886251f575bc3730283ae05cb8e378a9a
--- /dev/null
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@@ -0,0 +1,8 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..2ebdf92ce5b9f16dbeddf5fe3c1d06af0de7153a
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..085295cdcbad49887a291ab22d861cc657d2b3c6
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..7b3d82faf7ab31bbb5cfab2a9b2cf591367f9fe5
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..a5f31aae347ac989292f7e4d87e9285a2782373c
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index 0000000000000000000000000000000000000000..c55b8594158b1fbd7fdeea49e3ba7bc46581af10
--- /dev/null
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index 0000000000000000000000000000000000000000..42a5bb22d5e9ded8a031d99fea3e3ca4f80b2046
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index 0000000000000000000000000000000000000000..991752499601d70699000ee087f0b665d0bed5f9
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index 0000000000000000000000000000000000000000..2ebbd74631402fd7a0786f02080a78387d956b8e
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new file mode 100644
index 0000000000000000000000000000000000000000..dd27bb68eafa611cb0354fa9a940f0c12d8b63f2
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new file mode 100644
index 0000000000000000000000000000000000000000..2eaf58e9ef51c179633290c0f704e9318d263043
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new file mode 100644
index 0000000000000000000000000000000000000000..66470996646c97d3cb230a154c000e1f90b1f61a
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new file mode 100644
index 0000000000000000000000000000000000000000..dc431702a024ab6c53ff57c302bacd8ea44df9f3
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..7694a7667ba63615af13853a681506cf2af17c52
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new file mode 100644
index 0000000000000000000000000000000000000000..baf0516c645951a3fab11e5092af669b7f6ba59a
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new file mode 100644
index 0000000000000000000000000000000000000000..1c2e137b28ad4ed844c201142a6c86fa717f0a9d
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new file mode 100644
index 0000000000000000000000000000000000000000..8d94a77eea1553e76b7fc3c7177f2648d3cbc229
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new file mode 100644
index 0000000000000000000000000000000000000000..69f8af54f0c396d9fff15ecf522e60fe9ccb4ce6
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new file mode 100644
index 0000000000000000000000000000000000000000..3e4b6dad21e0cfac970be011a533f2b80c28e3c9
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new file mode 100644
index 0000000000000000000000000000000000000000..d32b879d77970408bfc18639e07328e0132b3897
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new file mode 100644
index 0000000000000000000000000000000000000000..880576a25f5f42f7736034323fb3f030382f5be7
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new file mode 100644
index 0000000000000000000000000000000000000000..9cd9c5e6a3b483f5fed5fc29070e5ad87695ff65
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new file mode 100644
index 0000000000000000000000000000000000000000..4621dfb949539c6959b57ed566ea65de4013bef5
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new file mode 100644
index 0000000000000000000000000000000000000000..24e676a623a4394d8392b22970cedd62c6dada70
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.150951.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.150951.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c6af22ac052749035335b34fc5c08b5415a35a1
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new file mode 100644
index 0000000000000000000000000000000000000000..595e4d9bc9612e1286070c390ab716732849728e
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.158911.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.158911.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6355532ce34ee8f1c8f88d4dab97299a9ebe2b
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+	"pitch" : 0.50702313765242124,
+	"roll" : -0.10860297718789139,
+	"x" : 0.08569905880269095,
+	"y" : 0.041032853475803377,
+	"yaw" : -2.1190609616554013,
+	"z" : 0.057918735527697413
+}
diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999352.162894.json b/single_pika_sense/episode9/localization/pose/pika/1782999352.162894.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd7889d4f05900e50221bc51a94cd36b53ab8385
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999352.162894.json
@@ -0,0 +1,8 @@
+{
+	"pitch" : 0.51832729297776359,
+	"roll" : -0.10538038035759587,
+	"x" : 0.084987441438018035,
+	"y" : 0.040736512240962225,
+	"yaw" : -2.1197433043699005,
+	"z" : 0.056628351020852508
+}
diff --git a/single_pika_sense/episode9/localization/pose/pika/sync.txt b/single_pika_sense/episode9/localization/pose/pika/sync.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b2173308102d77c748d6d05b901e82ee7bbcf3a8
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/sync.txt
@@ -0,0 +1,73 @@
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diff --git a/single_pika_sense/episode9/statistic.txt b/single_pika_sense/episode9/statistic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..109731de02d6ccef738d00dde82bd471ffd59c1c
--- /dev/null
+++ b/single_pika_sense/episode9/statistic.txt
@@ -0,0 +1,11 @@
+5.00386
+topic:
+camera/color/pikaDepthCamera 73 15.2063
+camera/color/pikaFisheyeCamera 73 15.2228
+camera/depth/pikaDepthCamera 73 15.2063
+localization/pose/pika 1195 245.08
+gripper/encoder/pika 609 125.309
+config:
+camera/color/pikaDepthCamera 1
+camera/color/pikaFisheyeCamera 1
+camera/depth/pikaDepthCamera 1